Knowledge Commons of Institute of Automation,CAS
Dense Mapping From an Accurate Tracking SLAM | |
Weijie Huang; Guoshan Zhang; Xiaowei Han | |
发表期刊 | IEEE/CAA Journal of Automatica Sinica |
ISSN | 2329-9266 |
2020 | |
卷号 | 7期号:6页码:1565-1574 |
摘要 | In recent years, reconstructing a sparse map from a simultaneous localization and mapping (SLAM) system on a conventional CPU has undergone remarkable progress. However, obtaining a dense map from the system often requires a high-performance GPU to accelerate computation. This paper proposes a dense mapping approach which can remove outliers and obtain a clean 3D model using a CPU in real-time. The dense mapping approach processes keyframes and establishes data association by using multi-threading technology. The outliers are removed by changing detections of associated vertices between keyframes. The implicit surface data of inliers is represented by a truncated signed distance function and fused with an adaptive weight. A global hash table and a local hash table are used to store and retrieve surface data for data-reuse. Experiment results show that the proposed approach can precisely remove the outliers in scene and obtain a dense 3D map with a better visual effect in real-time. |
关键词 | Adaptive weights data association dense mapping hash table simultaneous localization and mapping (SLAM) |
DOI | 10.1109/JAS.2020.1003357 |
引用统计 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/43057 |
专题 | 学术期刊_IEEE/CAA Journal of Automatica Sinica |
推荐引用方式 GB/T 7714 | Weijie Huang,Guoshan Zhang,Xiaowei Han. Dense Mapping From an Accurate Tracking SLAM[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(6):1565-1574. |
APA | Weijie Huang,Guoshan Zhang,&Xiaowei Han.(2020).Dense Mapping From an Accurate Tracking SLAM.IEEE/CAA Journal of Automatica Sinica,7(6),1565-1574. |
MLA | Weijie Huang,et al."Dense Mapping From an Accurate Tracking SLAM".IEEE/CAA Journal of Automatica Sinica 7.6(2020):1565-1574. |
条目包含的文件 | ||||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
JAS-2018-0255.pdf(23670KB) | 期刊论文 | 出版稿 | 开放获取 | CC BY-NC-SA | 浏览 |
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